Torpedo steering mechanism



' Aug. 23, 1960 Filed March 27, 1950 D. L. SUPERNAW TORPEDO STEERINGMECHANISM 5 Sheets-Sheet 1 Aug. 23, 1960 D. L. SUPERNAW 2,949,878

TORPEDO STEERING P/EICHAliISM Filed March 27, 1950 5 Sheeis-Sheet 2DWIGHT L. SUPERNAW W 3:;

Aug. 23, 1960 D. L. SUPERNAW 2,949,878

TORPEDO STEERING MECHANISM Filed March 27, 1950 5 Sheets-Sheet 3 gwucmmDWIGHT L. SUPER NAW Aug. 23, 1960 D. L. SUPERNAW 2,949,878

TORPEDO STEERING MECHANISM Filed March 27, 1950 5 Sheets-Sheet 4 FIG. 5.

DWIGHT L. SUPERNAW 1960 b. L. SUPERNAW 2,949,878

TORPEDO STEERING MECHANISM Filed March 27, 1950 5 Sheets-Sheet 5 FIG.6.

DWIGHT L. SUPERNAW Show;

aster Patented Aug. 23, 1960 TORPEDO STEERWG lVIECSM Dwight L. Supernaw,Key West, Fla, assignor to the United States of America as representedby the Secretary of the Navy Filed Mar. 27, 1950, Ser. No. 152,087

2 Claims. (Cl. lid-23) This invention relates to guided missiles andmore particularly to a mechanism for operating the azimuth steeringengine of a torpedo, such that the position of the rudder of the torpedois governed either by a gyroscope or in accordance with acoustic signalsemanating from a target vessel, thereby to guide the torpedo toward and.to strike the vessel.

According to the arrangement of the present invention the torpedo isprovided with the usual gyroscopic steering control which operates toguide the torpedo, in the absence of a satisfactory acoustical signal,to maintain the torpedo traveling in a prearranged direction, forexample in the direction in which it is launched. When the torpedo hasstarted on the target run under control of the gyroscope and thereaftera satisfactory acoustic signal is received by the alternate steeringdevice, the rudder control mechanism is then transferred from gyroscopicinfluence to control by an acoustic steering system which is responsiveto signals emanating from the target vessel, such, for example, aspropeller or ship noises, the acoustic system and the mechanism foroperating the azimuth steering engine being effective to guide thetorpedo to the vessel Without causing precession of the gyroscope duringthe period controlled by the acoustical steering system.

The acoustic steering system forms no part ofthe present invention andany suitable acoustical steering device may be employed for the purpose.Such a system, for example, is disclosed and claimed in the Patent No.l,588,932 issued on June 15, 1926 to Robert S. Blair for Art andApparatus for Warfare. In this patent a-pair of hydrophones aremountedin the forward portion of the torpedo in a common horizontalplane on opposite sides of the torpedo center line. The hydrophonesareresponsive to acoustical vibrations within a predetermined frequencyrange, and operate a circuit whose output may be utilized forcontrolling the azimuth position of the torpedo-rudder according towhich oneof the hydrophones receives the strongest signal from thetargetvessel.

The foregoing dual acoustic andgyroscopic control is accomplished byproviding a yieldable link between the gyroscope axis position-sensingpellet mechanism and the steering engine operating mechanism, such thatthe link can be operated under control of the gyroin the absence ofacoustic signals. When acoustic signals are received, however, the linkportion operates in response only to the signals, the yieldableconnection avoiding accompanying movements of the. gyroscope mechanismand resultant precession of the gyroscope. By reason of this arrangementthe gyroseopic control system is effectively overridden by theacousticcontrol system. when a satisfactory signal is received by the lattersystem.

In certain prior art torpedoes wherein a gyro and pellet mechanismgenerally similar to that latter, described is employed to control theazimuth steering engine, it has been the practice to employ a directconnection between gyro cam pawl's of the pallet mechanism, which sensegyro axis orientation, and a pallet member whose angulardefiectiondetermines steering engine action, so that angular deflectionof the pawls in accordance with deviation of torpedo direction, from apreselected course, produced like deflection of the pallet member andcorresponding corrective control of the steering engine.

In order to combine and adapt the prior art gyro and acoustic steeringsystems, taken by way of example and described in detail hereafter, tothe dual control system of the present invention, the pallet mechanismis modified to provide a pallet member journalled on the pallet shaftand yieldably connected to an auxiliary pallet member clamped at the topof the pallet shaft, the aforesaid pawls being secured to the bottom ofthis shaft. Transmission of motion between the fixed pallet member andthe journailed pallet member in response to the gyro control isaccomplished by means of a hair pin spring which is connectedtherebetween and urges the two pallet members into alignment with eachother, whereby the journalled pallet member is caused to yieldablyfollow movement of the fixed pallet member, the journalled member havingsecured thereto the pallet blade whose angular position controls thecondition of the steering engine, and conse quently, the angularposition of the steering rudder.

A pair of solenoids employed in the acoustical system are arranged toalso control the angle of setting of the pallet blade and thus controlthe rudder position in response to acoustic signals. This operation ofthe pallet blade, however, does not cause accompanying movement of thepallet shaft and resultant precession of the gyro for the reason thatthe aforementioned hair pin spring yields in response to drivingmovement of the journalled pallet member. Accordingly, the arrangementis such that the acoustic control system, in effect, over-rides the gyrocontrol system and in a manner to prevent interference with the delicatebalance of the gyro mechanism. Thus, if for any reason, the acousticalsteering device becomes inoperative, the steering control isautomatically returned to the gyroscopic control without having causedprecession of the gyroscope during the acoustical control of the rudderposition.

One of the objects of the present invention is to provide means forsteering the torpedo under exclusive gyroscopic control in the absenceof a satisfactory acoustical signal and'at any time when a satisfactoryacoustical signal is received by the acoustical steering device totransfer the control to acoustic response without causing precession ofthe gyroscope.

Another object of the present invention is to provide a yieldablelinkage in the gyro controlled azimuth steering mechanismof a torpedowherein an acoustically operated steering mechanism can override thegyroscopic control without introducing forces which will causeprecession of the gyroscope or otherwise upset the delicately balancedmechanism which it comprises.

Still a further object of the present invention is to provide a steeringdevice for a torpedo which is exclusively operated by a gyroscope in theabsence of a satisfactory acoustical signal after the torpedo hasstarted on the target run; is thereafter transferred from the gyroscopiccontrol to acoustic control when the acoustic device receives a signalof predetermined intensity emanating from a target vessel; andthereafter is returned to the gyroscopic control should the acousticdevice become inoperative for any reason.

Other objects and many of the attendant advantages of this inventionwill be readily appreciated as by reference to the following detaileddescription when considered in connection with the accompanying drawingswherein:

Fig. 1 is an expanded perspective view of a portion of the azimuthsteering mechanism of a torpedo as employed in the steering system ofthe present invention and showing the cam plate and slide operatingmechanism;

Fig. 2 is-a perspective View of another portion of the azimuth steeringmechanism of a torpedo, certain portions being broken away and showingthe azimuth steering engine and the driving connections thereto; 7

Fig. 3 is a somewhat enlarged plan view of the pallet mechanism havingthe yieldable link therein, which forms a connection between thegyroscope and acoustical steer- .ing mechanisms of the presentinvention;

:Fig. 5; and

Fig. 7 is a longitudinal section through the axis of the torpedo andschematically illustrating the electrical circuit which operates tosteer the torpedo when a satisfactory acoustical signal is receivedthereby.

Referring now to the drawings in which like numerals .of reference areemployed to designate like parts through- ;out the several views andmore particularly to Fig. 1, :there is shown thereon the cam plate 10which is supported within the gyroscope housing (not shown) in such amanner that the cam plate lies in a horizontal plane within .thehousing. The axis of the gyro rotor is also set in a horizontal plane,and the cam plate It] is mounted on 'top of the outer gimbal ring (notshown) of the gyro- -scope in such a manner that the cam plate and outer.gimbal ring rotate together about a vertical axis as the longitudinalaxis of the torpedo deviates from the axis of the spinning rotor of thegyroscope.

The cam plate 10 is provided with a port concentric .ridge 12, portconcentric groove 13, and similarly formed starboard concentric ridge 19and starboard concentric groove (not shown) formed on the rim of the camplate with the port groove lying in the horizontal plane of thestarboard ridge and the starboard groove lying in the horizontal planeof the port ridge.

The port groove and ridge and the starboard groove and ridge areseparated on the aft surface portion of cam plate 10 by a cam surface15. The upper end of the gyroscope housing is enclosed by a suitablecover plate (not shown) on which is mounted the pallet mechanism,indicated generally at 22-, which forms a connecting link between thegyroscope and the azimuth steering control mechanism, as willhereinafter be more fully described. The pallet mechanism 22 includes aslide 17 which is reciprocated along the longitudinal axis of thetorpedo and in a plane parallel to the cam plate 10 by a cam .24 whichis rotated about its vertical axis by bevel gear 25 and pinion 26 as thetorpedo driving motor (not shown) drives the torpedo through the water.A pair .of spring loaded plungers 27 mounted on the gyro cover plateyieldably urge the slide 17 into engagement with the cam surface 24..Journalled in shaft holder 29 in the slide 17 is a vertically mountedpallet shaft 23 having a leaf spring 35 fitted into a slot providedtherefor in the shaft to cause a slight drag between the shaft and theholder. Pinned to the lower end of shaft 23, at their hubs 38, aresubstantially diametrically opposed starboard cam pawl 36 and port campawl 37 which are offset along the pallet axis such that if pawl 36, forexample, contacts cam as the slide 17 and shaft 23 move together to theend of the forward stroke of the slide, further movement of these willrock the pallet, shaft to anangular setting and, since pawl 37 lies on aplane with concentric groove 13, the pawl 37 will be accommodated ingroove 13, and similarly, when pawl 37 touches the cam 15 as the slide17 and shaft 23 moves to the end of the forward stroke, the pallet shaftwill rock in the opposite direction and pawl 36, being on a plane withthe starboard concentric groove, will be accommodated therein. As shownmore clearly in Figs. 3 and 4, the ends of the pawls 36 and 37 areformed in the shape of hooks, the inner sides 14 of'which are parallelto the axis of the hubs 38 and so dimensioned as to straddle cam 15 whenthe axis of the cam plate 10 is aligned with the longitudinal axis ofthe torpedo.

In order to provide an azimuth steering control mechanism which isoperable in response to acoustical signals emanating from the rotatingpropellers of the enemy vessel, or ship noises, as the case may be, andwhich can override the afo-redescribed well known gyroscop-ic steeringcontrol of the torpedo, a yieldable linkage, generally designated 39 andbest shown in Fig. 4, is mounted on the upper end of the pallet shaft23. This linkage, as will appear more fully hereinafter, will notintroduce forces into the gyroscopic steering mechanism when the torpedoresponds to the acoustical steering device, thereby avoiding precessionof the gyroscope during acoustical control.

Secured to the upper end of the pallet shaft 23, by

Journalled on the pallet shaft 23 below the '43 which is yieldablyconnected to the fixed member 41 through a hair pin spring 44, the bightof which is taken around springsupport 45 which is staked to the palletmember 43, with the radially extending arms 46 and 47 of spring 44extending from spring support 45 to contact an upwardly extending pin 48secured to pallet member 43 and a downwardly extending pin 49 secured tothe upper pallet member 41. The action of spring 44 is such that palletmember 43 will yieldably follow the movement of fixed pallet 41 withinlimits determined by the tension of spring 44, and pallet member 43 mayotherwise be rotated about pallet shaft 23 against the tension of spring44 without affecting the position of the fixed pallet member 41, thisbeing accomplished by reason of the drag on the pallet shaft caused bycompression of spring 35 within the shaft holder 29.

Actuating pallet member 43 is provided with a pallet blade 51 whichrotates with pallet member 43 about shaft 23 and extends aft, whenmounted in the torpedo, and 'in a plane with the port pallet pawl 52 andthe starboard pallet pawl 53, Fig. 2.

From the foregoing, it will be apparent that as the pawls 36 and 37 aremoved to and from contact with the gyroscope cam plate 10, if thetorpedo course differs on either side of the axis of the gyroscope oneof the cam 'pawls 36 or 37, as the case may be, will move into line withand will contact the cam 15 and the other pawl will be accommodated inone of the concentric cam grooves, 'thereby to impart a slight rotarymovement to the pallet shaft 23, which shaft extends through opening 50on slide cover 57 with pallet members 41 and 43 and pallet blade 51disposed on the upper side of the slide cover, and to cause pallet blade51 to align with either the port or starboard pallet pawls 52 or 53, theangular setting of the blade 51 being determined by the turning motionimparted to the shaft 23. K

As the pallet shaft 23 moves rearwardly with the slide 17 on therearwardstroke, pallet blade 51 is brought into contact with one or the other ofthe two spaced hookshaped pawls 52 or 53, Figs. 2 and 5, depending onthe angular setting of shaft 23. Pawls 52 and 53 are rotatably mountedon pivot pins 55 and 56 respectively on the slide cover 57. Pallet pawls52 and 53 are cross-connected by links 58, 59 and adjusting screw 61 insuch a manner that when port pawl 52 is rotated clockwise, as viewed inFig. 5, by the pallet blade about pin 55, starboard pawl 53 is alsomoved clockwise about pin 56. In a like manner when the starboard pawl53 is rotated counterclockwise about pin 56, port pawl 52 is rotatedcounter clockwise about pin 55. Stop pins 40 are provided to limit therotary movement of pallet blade 51 and pawls 52 and 53, the extent ofmovement of the latter being controlled by the adjustment of screw 61.It isalso to be observed that when there is substantial parallelism ofthe torpedo longitudinal. axis and the preselected course dictated byinitial setting of the gyroscope axis direction, movement of the pawls36 and 37 forwardly toward the cam plate will cause the pawls 36 and 37to straddle the cam surface 15, and accordingly the pallet blade 51,when moved rearwardly on the backward stroke of the slide 17, will passbetween the pallet pawls 52 and 53 and no rotary movement, is impartedto pawls 52 and 53.

-As seen more clearly in Fig. 2, port pallet pawl 52 is connected by alink 62, which is journalled at the lower arm portion of bell crank 63for imparting an up and down movement to the other arm portion of thebell crank as pawl 52 rotates on pin 55, the bell crank 63 being pivotedin upstanding bracket 64 formed on the slide cover 57. The forward orother end of hell crank 63 is provided with a bifurcated portion 65which, through suitable connection therewith, raises and lowers bellcrank arm 66 which, in turn, through shaft 67 and arm 68 moves aconnecting link 69 in a forward or rearward direction with respect tothe torpedo axis. The connecting link 69 moves piston shaft 71 of anengine valve (not shown) enclosed within housing 25 in a forward or aftdirection. Sufiice it to say that as the piston shaft 71 moves theengine valve forward or aft, as the case may be, it opens suitable inletports to admit air under pressure to one side or the other of a piston(not shown) which is enclosed within housing 28, selectively to causethe piston and the link 72 connected to the piston to move in theopposite direction from the movement of piston shaft 71.

As the link 72 moves forward or aft, the steering rudder 78 operativelylinked thereto as indicated at 54 is so positioned relative to thelongitudinal axis of thetorpedo as to impart an angular setting of therudder to steer the torpedo in a port or starboard direction.

Referring now more particularly to-Figs. and 6, the present inventionprovides solenoids 81 and 82 having armatures 83 and 8-4 pivotallymounted on pivot pins $5 and 86 respectively. Armatures S3 and 84 areprovided with rearwardly extending arms 87 and 33 arranged to engagetheir respective slide bars 91- and 92 which are mounted in suitableopenings in relay bracket 93 for lateral sliding movement therein. Each;of slide bars 1 and 92 are provided with springs 94: which urge. theslide bars in an outward position against the end of arms 87 and 88.

Upon energization of one of the solenoids, such for example as solenoidS2, armature 38 moves inwardly to force slide bar 92 to the right asseen in Figs. 5 and 6, whereby the inner end of the slide bar 92 engagesthe pallet member 43 to apply a steering force to the yieldable link torotate the free pallet in a clockwise direction, as viewed in Fig. 5,about the pallet shaft 23. The pallet blade 51 is thus oriented onpallet shaft 23 such that when the blade is moved rearwardly by actionof cam 24 (Fig. l), the blade engages the port pallet pawl 52 thereby toinitiate a port steering movement of the steering engine.

The aforementioned acoustical steering mechanism disclosed and claimedin the patent issued to Robert S. Blair, Patent No. 1,588,932, may beemployed for operating solenoids 81 and 32 which, as aforedescribed,assume corrtrol of the steering mechanism of the torpedo when thesolenoids are selectively operated, this being in response tocompressional waves which operate the microphones in response toacoustical signals transmitted through the surrounding water by an enemyvessel, such waves being in the frequency range or" the microphones. Thetorpedo may thus be steered to the target vessel under acousticalcontrol, without causing precession of the gyroscope by reason of tr eyicldable linkage aforedeecribed.

Referring now more particularly to Fig. 7, there is shown thereon atorpedo casing 31 on the aft end of which is hinged the azimuth controlrudder 78 on a vertical. axis normal to the longitudinal axis of thetorpedo, the position of the rudder being controlled by the movement ofthe connecting linkage 72 and 54 (Fig. 2) in accordance with steeringengine operation, as stated heretofore, these being grouped as drivingconnections and indicated simply by the schematic link 113 in Fig. 7.

Disposed within the torpedo casing 31 is a storage battery 32, oneterminal of which is connected through a conductor 33- to the coil ofsolenoid 81 and through a conductor 34 to the coil of the solenoid 82.The other terminal of the battery 32 is connected by a conductor 73 withan armature 74 which. is pivoted at its center as indicated at 75. Thepivoted armature 74 is provided at its ends with a pair of contactpoints 76 and 77. The contact point 76 on armature 74 is adapted to makecontact with the terminal: of conductor 111 which is connected to theother side ofthewinding of solenoid 82', and a circuit is completedfrom: the battery 32 through this solenoid, to energize the solenoid,move arm to the position as indicated in Fig. 5, which moves slide bar92 and actuating pallet 43 to the right. As the pallet blade 51 movesrearwardly, it engages port pallet pawl 52 which through the connectinglinkages, as heretofore de scribed causes steering rudder 78 to be movedto the port steering position as will hereinafter be more fullydcscribed. Similarly, contact point 77 on armature 74 is adapted to makecontact with the terminal of conductor 112 which is connected to theother side of the winding of solenoid 81, and a circuit is completedfrom the battery 32 through the solenoid 81 to move the rudder 73 tostarboard steering position.

Positioned forwardly of the armature 74" is a battery 95, one terminalof which is: connected to a conductor 96 which is connected to theterminals of carbon pile type microphones 101 and 102 respectively. Theother terminal of the battery is connected through a coil 103 and.conductor 105-with the other terminal of microphone 101, and through acoil 104 and conductor 107 with the other terminal of microphone 102.The coil 103 is positioned about a core 108 forming part of the armature74 so that when this coil is energized the armature. 74 is swung to makecontact at 77. Similarly, the coil 104 is positioned about a core109-forming part of the armature 74 sothat' when this coil is energized, thearmature 74 is swung to; make: contact; at 76;

The microphones 101 and 102 are positioned adjacent the forward end ofthe torpedo preferably in recesses therein, as shown, and are responsiveto vibrations such as sound waves received through the surroundingwater. Sound waves striking any one of the microphones compress thecarbon pile thereof, lessening its resistance and permitting a currentto flow therethrough from the battery 95 and energizing the coil throughwhich the microphone is connected.

The two microphones 101 and 102 are preferably positioned in a planesubstantially at right angles to the rudder 78, whose position theycontrol through the connections aforedescribed. It will be seen thatsound waves striking the microphone 101, for example, cause a current toflow through the coil 103 which swings the armature 74, making contactat 77. This energizes the solenoid 81 which, as heretofore described,operates through the driving connections 113 including the steeringengine to swing the rudder 78 to direct the torpedo in a starboarddirection from which the sound waves are proceeding. In a like manner,sound waves striking the microphone 102 effect a turning of the rudder78 to steer the torpedo in a port direction toward the source of thesesound waves.

Thus the torpedo propelled through the water is automatically steeredtoward a source of sound. The torpedo will thus travel toward a movingvessel, the propellers or other sound source of which create adisturbance in the water, and will follow the vessel even though ittravels in a changing course until it strikes the vessel and explodes.When the torpedo is moving in the proper course, directly toward itstarget, the microphones 101 and 102 being symmetrically disposed receivethe same intensity of sound wave from the target and the torpedoproceeds in substantially a straight path toward the target.Immediately, however, that the position of the source of sound changeswith respect to the direction of move: ment of the torpedo, the ruddercontrolling mechanism is operated in response to the difiering soundintensities to correct the direction'of travel.

Should the energization force of the solenoids fail for any reason, thesprings 94 will move their respective slide bars 91 and 92 to theinitial outward or normal position, and spring 46 will again restorefree pallet member 43 to a position of alignment with the fixed palletmember 41 and the torpedo will proceed under gyroscopic steeringcontrol, as heretofore described.

It thus becomes apparent that an azimuth steering control has beenprovided which is capable of inserting, into the control system, meansfor overriding the usual gyroscopic steering of a torpedo. The torpedocan thus be guided to a target vessel in response to acoustical signalsemanating from the vessel without introducing forces into the gyroscopeto cause precession and if, for any reason, the acoustic steering devicefails to function the control may be returned to gyroscope steering.

Obviously many modifications and variations of the present invention arepossible in the light of the above teachings. For example, the slidebars can readily be replaced with a U-shaped armature pivoted at thebight of the U and moved from one side to the other by a solenoidcontrol against the tension of a centering spring. It is therefore to'be understood that within the scope of the appended claims the inventionmay be practiced otherwise than as specifically described.

What is claimed as new and desired to be secured by Letters Patent ofthe United States of America is:

1. In a propulsive torpedo having steering means, in combinationtherewith: a gyroscopic mechanism including a pallet shaft controlledthereby to experience angular deflection, about the axis defined by saidshaft, corresponding in sense to that of torpedo deviation from apreselected course direction; a pallet member journalled on said shaftand linked thereto, by resilient means, to normally experience the sameangular deflection as said .8 pallet shaft; means for receiving targetacoustic signals and for deriving therefrom control signalscorresponding to target direction relative to torpedo heading; meansresponsive to said control signals to angularly deflect the palletmember independently of said pallet shaft deflection, through yieldingaction of said resilient means, and thus, during reception of saidtarget acoustic signals, solely in accordance with deviation of thetorpedo from target direction; and means for controlling said steeringmeans in response -to and in accordance with thea'ngular deflection ofsaid pallet member, to steer the torpedo along said preselected coursedirection in the absence of said target acoustic signals and to steerthe torpedo towards said target during reception of said target acousticsignals. 1

2. In a propulsive torpedo having steering means, in combinationtherewith: a gyroscopic mechanism. including a pallet shaft controlledthereby to experience angular deflection, about the axis defined by saidshaft, corresponding in sense to that of torpedo deviation from apreselected course direction; a pallet member journalled on said shaftand linked thereto, by resilient means, to normally experience the sameangular deflection as said pallet shaft; means for receiving targetacoustic signals and for deriving therefrom dual channel control signalshaving relative magnitudes corresponding to target direction relative totorpedo heading; means responsive to said control signals to angularlydeflect said pallet member independently of said pallet shaftdeflection, through yielding action of said resilient means, and thus,during reception of said target acoustic signals, solely in accordancewith deviation of the torpedo from target direction; and means forcontrolling said steering means in response to and in accordance withthe angular deflection of said pallet member, to steer the torpedo alongsaid preselected course direction in the absence of said target acousticsignals and to steer the torpedo toward said target during reception ofsaid target acoustic signals.

Leon Dec. 15, 1914- l,303,044 Dieter May 6, 1919 1,527,777 Blount Feb.24, 1925

